CN103738463B - A kind of control method of shipbuilding numerical control moulding bed - Google Patents
A kind of control method of shipbuilding numerical control moulding bed Download PDFInfo
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- CN103738463B CN103738463B CN201310336944.1A CN201310336944A CN103738463B CN 103738463 B CN103738463 B CN 103738463B CN 201310336944 A CN201310336944 A CN 201310336944A CN 103738463 B CN103738463 B CN 103738463B
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Abstract
The invention discloses a kind of control method of shipbuilding numerical control moulding bed, this numerical control moulding bed comprises multiple moulding bed pillar, and described control method comprises: step one, reading boat segmental curved surface data; Step 2, to read boat segmental curved surface data carry out surface fitting; Step 3, the boat segmental curved surface data of reading is adjusted to level attitude through coordinate transform; Step 4, determine the concrete coordinate of each moulding bed pillar; Step 5, utilize bicubic non-uniform rational B-spline curved surface (NURBS) technology and data interpolating technology, simulate the toroidal function of boat segmental curved surface according to the boat segmental curved surface data adjusting to level attitude; Step 6, calculate the due height of each moulding bed pillar; The height of each moulding bed pillar that step 7, basis calculate adjusts each moulding bed pillar.The present invention can realize the Automated condtrol of numerical control moulding bed, and the height of convenient adjustment numerical control moulding bed, control and regulation precision is high, speed is fast.
Description
[technical field]
The present invention relates to a kind of shipbuilding technology, be specifically related to a kind of control method of shipbuilding numerical control moulding bed.
[background technology]
In ship building process, moulding bed is that boat segmental assembles and welds requisite tooling device, is the shape loose tool and the bench board that manufacture ship hull surface segmentation and curved three dimensional unit.The kind of moulding bed is a lot, is divided into jig frame special and the large class of general jig frame two by its range of use.In China, what major part shipyard adopted is fulcrum angle steel moulding bed, this jig frame special is the requirement meeting particular fragments curved surface line style, need weld angle steel fulcrum and cut, inevitably cause the waste of steel, when China's year shipbuilding amount is huge, it is very huge that the cutting of fulcrum angle steel causes the waste of steel, the junk pile simultaneously cut, in sectional construction place, causes certain pollution to working environment; To in the cutting of angle steel and welding process, waste the gas that welding uses, the waste gas of generation also pollutes natural environment, runs counter to the state basic policy that national energy-saving reduces discharging; In addition, this kind of jig frame special can not carry out comformability adjustment for the boats and ships of different size, different profile, can not reuse, extend the duration of shipbuilding while causing the wasting of resources;
The board-like general jig frame of the active tire of a kind of framework is there is in prior art, it is primarily of formations such as framework, active template, channel-section steel crossbeam and adjusts bar, according to the molded line of body section, framework selects 30 degree, 40 degree, 50 degree and 60 degree of four kinds of angles, the oblique angle steel of angle framework has screw, for fixing minor network quickening tire plate.With bolt link between the oblique angle bar of active template, framework and channel-section steel crossbeam;
A kind of telescopic strut formula moulding bed is also there is in prior art, every root pillar is made up of interior pipe, outer tube, segmented head, base, latch, joint welding stool, each brill three round eyes on inner and outer pipes, be crossed as 60 degree, eyelet rises twist, is used for regulating offset height, and fix with latch, base is connected with channel-section steel platform with bolt, according to the rib of segmentation apart from, weight and line style degree of crook, can carry out displacement in length and breadth.Although this moulding bed can realize the adjustment of height, recycling, it highly regulates discontinuous, and precision is low;
By the analysis to various general jig frame of the prior art, still there is the problem of the following aspects in known its: 1, the degree of regulation of moulding bed offset is limited, operation inconvenience; 2, to all unrealized automation of the control of general jig frame.
[summary of the invention]
For the problems referred to above, the invention discloses a kind of control method of shipbuilding numerical control moulding bed, can realize the Automated condtrol of numerical control moulding bed, the height of convenient adjustment numerical control moulding bed, control and regulation precision is high, speed is fast.Technical scheme of the present invention is as follows:
A control method for shipbuilding numerical control moulding bed, this numerical control moulding bed comprises multiple moulding bed pillar, and described control method comprises:
Step one, data interface techniques is utilized to read boat segmental curved surface data;
Step 2, utilize NURBS technology to read boat segmental curved surface data carry out surface fitting, actual boat segmental spatial position of curved surface is presented on screen;
Step 3, utilize three-dimensional coordinate transformation technology, the boat segmental curved surface data of reading is adjusted to level attitude, and records the boat segmental curved surface data under this level attitude;
The relative coordinate relation of step 4, setting boat segmental curved surface and the moulding bed newel frame origin of coordinates, determines that each moulding bed pillar is at the concrete coordinate of boat segmental curved surface under this system of axes;
Step 5, utilize NURBS technology, simulate the toroidal function of boat segmental curved surface according to the boat segmental curved surface data under the level attitude of step 3 record;
Step 6, according to each moulding bed pillar at the concrete coordinate of boat segmental curved surface and toroidal function, the due height of each moulding bed pillar of interpolation calculation;
The due height of each moulding bed pillar that step 7, basis calculate carries out control adjustment to each moulding bed pillar simultaneously.
The control method of shipbuilding numerical control moulding bed of the present invention, can read boat segmental curved surface data; Utilize coordinate transformating technology that the boat segmental curved surface data of reading is adjusted to level attitude; The relative coordinate relation of setting boat segmental curved surface and the moulding bed newel frame origin of coordinates, determines that each moulding bed shore position is at the concrete coordinate of boat segmental curved surface under this system of axes; Utilize NURBS technology and data interpolating technology, according to the boat segmental curved surface data adjusting to level attitude, simulate the toroidal function of boat segmental curved surface; According to the concrete coordinate of each moulding bed pillar and toroidal function, calculate the height that each moulding bed pillar needs adjustment; Finally realized adjusting the control of each moulding bed pillar by Computer Control Technology, reach the Automated condtrol of numerical control moulding bed.The height of the present invention's convenient adjustment numerical control moulding bed, control and regulation precision is high, and speed is fast, thus the target that realization is raised the efficiency, saved material, reduces costs, shortens the shipbuilding duration.
[accompanying drawing explanation]
Fig. 1 is the control method diagram of circuit in one embodiment of shipbuilding numerical control moulding bed of the present invention;
Fig. 2 is the diagram of circuit of the control program that in Fig. 1, control method is used;
Fig. 3 is the shape and structure figure of moulding bed pillar used in Fig. 1;
Fig. 4 is the structural representation of upper pillar stand in Fig. 3;
Fig. 5 is the birds-eye view of Fig. 4;
Fig. 6 is the structural representation of lower pillar stand in Fig. 3;
Fig. 7 is the A-A direction view of Fig. 6;
Fig. 8 is the structural representation of vertical rod in Fig. 3;
Fig. 9 is the decomposition view of end face round end, square and detachable fastening block in Fig. 3.
Figure 10 is the connection structure schematic diagram of end face round end in Fig. 3, square.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.
Figure 1 shows that the diagram of circuit of shipbuilding numerical control moulding bed control method of the present invention, it comprises:
S101, data interface techniques is utilized to read boat segmental curved surface data;
Utilize data interface techniques, interface can be realized with the direct boat segmental data file exported in the widely used digital shipbuilding system in current shipbuilding yard, from these files, directly read the offset data of boat segmental, be applied to the generation of boat segmental curved surface;
S102, utilize NURBS technology to read boat segmental curved surface data carry out surface fitting, actual boat segmental spatial position of curved surface is presented on screen;
This step utilizes NURBS technology, pass through inverse operation, obtain the controlling point by the NURBS mathematic(al) representation of boat segmental curved surface each point and control coefficient, then utilizing the expression formula obtained, directly by needing the boat segmental offset data of processing to show preview in 3-D graphic mode, checking data reasonableness, integraty, as pinpointed the problems, carry out data prediction, until data are perfect;
S103, utilize three-dimensional coordinate transformation technology, the boat segmental curved surface data of reading is adjusted to level attitude, and notes down the boat segmental curved surface data under this level attitude;
Concrete method of adjustment can be as follows: set each point coordinate of boat segmental curved surface as P (X, Y, Z), four angle point original coordinates are respectively: P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), be designated as clockwise direction under four points, get segmentation center of surface point P0 (X0, Y0, Z0) be benchmark leveling point, then segmentation is respectively along X, Y, Z-direction leveling computing formula:
X-direction, first calculates the angle needing leveling:
ɑ＝arctan((0.5*(Z1+Z3)-0.5*(Z2+Z4))/(X4-X1))；
Then original data coordinate after the leveling of calculating X-direction:
fX(P)＝(X-X0)*cos(ɑ)+(Z-Z0)*sin(ɑ)；
fY(P)＝Y；
fZ(P)＝(Z-Z0)*cos(ɑ)–(X-X0)*sin(ɑ)；
Equally,
Y-direction, first calculates the angle needing leveling:
ɑ＝arctan((0.5*(fZ1+fZ4)-0.5*(fZ2+fZ3))/(fY2-fY1))；
Then original data coordinate after the leveling of calculating Y-direction:
fX′(P)＝fX；
fY′(P)＝(fY-fY0)*cos(-ɑ)-fZ*sin(-ɑ)；
fZ′(P)＝(fY-fY0)*sin(-ɑ)+fZ*cos(-ɑ)；
Z-direction, leveling angle:
ɑ＝arctan((0.5*(fY′1+fY′2)-0.5*(fY′3+fY′4))/(fX′4-fX′1))；
Original data coordinate after Z-direction leveling:
fX″(P)＝fX′*cos(ɑ)-fY′*sin(ɑ)；
fY″(P)＝fX′*sin(ɑ)+fY′*cos(ɑ)；
fZ″(P)＝fZ′(P)；
Through calculating with top-surface camber leveling, then carry out curved surface vertical translation, curved surface nadir is dropped on horizontal zero layer.Now, boat segmental curved surface diff-H is in minimum rating, can reduce the diff-H of whole segmentation curved surface, is convenient to moulding bed tune type and the operation of segmentation welding processing;
The relative coordinate relation of S104, setting boat segmental curved surface and the moulding bed newel frame origin of coordinates, determines that each moulding bed pillar is at the concrete coordinate of boat segmental curved surface under this system of axes;
The origin of coordinates that specifically first can set boat segmental curved surface is positioned over the relative position of the general frame initial point (X0, Y0) of numerical control moulding bed (X0 ', Y0 ') place, and forms an orientation angle ɑ (can be 0 or arbitrary value); On this basis, can calculate and determine the concrete coordinate of each moulding bed pillar (coordinate figure in original numerical control moulding bed general frame coordinate is (X, Y)) relative to boat segmental curved surface, concrete coordinate is as follows:
X′＝(X-X0′)*cos(ɑ)+(Y-Y0′)*sin(ɑ)；
Y′＝(Y-Y0′)*cos(ɑ)-(X-X0′)*sin(ɑ)；
The each moulding bed pillar more than calculated can be used for using when later step calculates moulding bed pillar height relative to the boat segmental surface coordinates (X ', Y ') of placing.
S105, utilize NURBS technology, simulate the toroidal function of boat segmental curved surface according to the boat segmental curved surface data under the level attitude of step S103 record;
Identical with S102 step, utilize the boat segmental curved surface data under NURBS technology and level attitude, by inverse operation, obtain the controlling point by the NURBS mathematic(al) representation of boat segmental curved surface each point under level attitude and control coefficient.By the expression formula obtained, the height value of any point coordinate on segmentation curved surface (X ', Y ') can be calculated;
S106, according to each moulding bed pillar at the concrete coordinate of boat segmental curved surface and toroidal function, the due height of each moulding bed pillar of interpolation calculation;
Utilize the boat segmental toroidal function NURBS expression formula obtained and each moulding bed pillar position coordinate (X ', Y '), can calculate the curved surface height coordinate Z ' at each moulding bed pillar place, this Z ' is exactly that this pillar should adjust the height reached;
The due height of each moulding bed pillar that S107, basis calculate carries out control adjustment to each moulding bed pillar simultaneously.
Suppose that the ratio of number of teeth of transmission gear and motor gear is R, screw mandrel pitch is d, and the current height apart from horizontal zero layer of each moulding bed pillar is H, then the revolution that can calculate motor needs is:
N＝(Z′-H)*R/d
As (Z '-H) >0, explanation should regulate and highly be greater than Present Attitude, and after motor answers positive dirction to rotate N circle, pillar height reaches requirement;
As (Z '-H) <0, explanation should regulate and highly be less than Present Attitude, and after motor answers opposite spin N to enclose, pillar height reaches requirement;
After calculating revolution and hand of rotation, may be combined with into control command, control each electric machine rotation, make moulding bed pillar height reach adjustment requirement.
Above-mentioned steps can adopt corresponding computer-controlled program to realize, and realizes the Automated condtrol of numerical control moulding bed, the height of convenient adjustment numerical control moulding bed.Control and regulation precision is high, and speed is fast, thus the target that realization is raised the efficiency, saved material, reduces costs, shortens the shipbuilding duration.
Preferably, before should having according to each moulding bed pillar of calculating and highly each moulding bed pillar being adjusted, also step is comprised: by the height adjustment of each moulding bed pillar on same horizontal surface.To facilitate unification to adjust the height of each moulding bed pillar, reduce deviation.
After should having according to each moulding bed pillar of calculating and highly each moulding bed pillar being adjusted, also step should be comprised: whether the height of monitoring each moulding bed pillar adjusts to the right place, if adjusted to the right place, sends information, informs moulding bed adjustment.If noted abnormalities, do not change or rotate not in place for a long time, then send prompting as certain motor rotations, checked by operating personal and continue to send adjustment instruction, until each pillar rotate in place, moulding bed tune type terminates.
In order to realize the precise automatic of numerical control moulding bed, make numerical control more intelligent more accurate, the program flow diagram of the specific implementation of numerical control moulding bed control method as shown in Figure 2.Moulding bed corbeling specifically can be as shown in Figures 3 to 10, each moulding bed pillar can comprise lower pillar stand 4, upper pillar stand 9, vertical rod and transmission device, lower pillar stand 4 comprises case in 3 and is located at the moulding bed base 1 of case in 3 bottom, and the top of case in 3 is provided with and connects base 16; Upper pillar stand 9 comprises sleeve pipe 10, and upper sleeve pipe 10 bottom is provided with sleeve pipe base 15, and the top of upper sleeve pipe base 15 is provided with transmission device mounting box 7, is provided with motor 20 in transmission device mounting box 7, and the output shaft of motor 20 is coaxially fixed with motor gear 5; The top of upper sleeve pipe 10 is provided with top member 11, and the middle part of top member 11 is provided with circumferential notch 17 and one section of guided way; Described vertical rod comprises screw mandrel 8, and the outside of screw mandrel 8 is provided with the outside thread for transmission, and the top of screw mandrel 8 is provided with one section of guide groove mated with guided way; The transmission gear 6 coaxial with screw mandrel 8 is also provided with in described transmission device mounting box 7, the middle part of transmission gear 6 is provided with the negative thread corresponding with described outside thread, transmission gear 6 engages with motor gear 5, in transmission device mounting box 7, axial-rotation is done by the drive of motor gear 5, because transmission gear 6 position is in the vertical direction fixed, screw mandrel 8 is eliminated by described guided way and guide groove at the rotary freedom of radial direction simultaneously, makes transmission gear 6 drive screw mandrel 8 up-and-down movement.
Power is provided by motor 20, by motor gear 5 and transmission gear 6 transmission, and drive screw mandrel 8 up-and-down movement by screw-driven, thus the height of moulding bed pillar is regulated, screw-driven can realize step-less adjustment, highly regulates rapidly, continuously and precision is high; Control the revolution of motor 20 by Computer Control Technology and turn to, thus the control that screw mandrel 8 is moved is more intelligent and accurate.
Now, the height according to each moulding bed pillar calculated adjusts each moulding bed pillar, is specifically as follows:
Utilize the ratio of number of teeth of motor gear, transmission gear, and the pitch of screw mandrel, according to each moulding bed pillar calculated should have height, calculate turning to and revolution of motor, then utilize Computer Control Technology, by the revolution of each pillar motor and turning to, be combined into control command, be sent to each motor, control each electric machine rotation.
Motor is according to after the control command running received, Computer Control Technology can be utilized to monitor motor operating state, receive the running state real-time feedback information that motor sends, and contrast with turning to according to the feedback information received and the revolution calculated, determine whether to continue to send corresponding control command to this motor; If rotate in place, then moulding bed tune type completes.If noted abnormalities, do not change as certain motor rotations or rotate not in place for a long time, then control program sends prompting, and checked by operating personal and continue to send adjustment instruction, until each pillar rotate in place, moulding bed tune type terminates.
Preferably, each moulding bed pillar also comprises end face round end 12 and two pieces of squares 14, end face round end 12 is fixed on screw mandrel 8 top, the top of end face round end 12 is a sphere, described square 14 is provided with the concave ball surfaces corresponding with described sphere, and two squares are hinged on end face round end top after tightening up connection by screw 4a; Two squares fix rear and end face round end is hinged with the form of spherical pair, square can be rotated arbitrarily in certain angular range, and then make square 14 top formed needed for plane at any angle, with the segmentation application of a surface of hull, forming surface contacts, provide larger area of contact, and make being evenly distributed of load;
Further, the top of described screw mandrel 8 has the internal thread hole for fixed roof surface round end 12, and the bottom of described end face round end 12 is provided with a screw rod 3a mated with described internal thread hole; End face round end 12 coordinates by described screw rod 3a and internal thread hole the top being fixed on screw mandrel 8, reliably easy to connect;
Further, also comprise detachable fastening block 13, the middle part of described square 14 upper surface is provided with the groove 2a for placing described detachable fastening block 13, and described detachable fastening block 13 inserts in groove 2a; When the plane on square top and body section outside plate can not close contact time, after outside plate is contacted with detachable fastening block 13 by external force, be fixedly connected with detachable fastening block 13 by an electrode holder outside plate, be convenient to keep body section offset and overall processing;
Further, described groove 2a is dovetail furrow, and described detachable fastening block 13 is the trapezoid block corresponding with described dove tail shape, makes connection more convenient;
Preferably, be provided with multiple first reinforced rib 2 outside described case in 3 and between moulding bed base 1, time stressed to lower pillar stand 4, play booster action;
Preferably, be provided with multiple second reinforced rib 19 outside described upper sleeve pipe 10 and between upper sleeve pipe base 15, time stressed to upper pillar stand 9, play booster action;
Preferably, described upper sleeve pipe base 15 is equipped with multiple screw hole 18 with the correspondence position being connected base 16, upper sleeve pipe base 15 be connected base 16 and adopt screw to connect by screw hole 18;
Further, described multiple screw hole 18 is circumferentially uniform, makes connection evenly reliable;
Preferably, described upper sleeve pipe 10 or case in 3 adopt solid drawn pipe to make, and make its bending resistance, torsional property good, lightweight, and are convenient to batch manufacturing.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.
Claims (6)
1. a shipbuilding control method for numerical control moulding bed, this numerical control moulding bed comprises multiple moulding bed pillar, it is characterized in that, described control method comprises:
Step one, data interface techniques is utilized to read boat segmental curved surface data;
Step 2, utilize NURBS technology to read boat segmental curved surface data carry out surface fitting, actual boat segmental spatial position of curved surface is presented on screen;
Step 3, utilize three-dimensional coordinate transformation technology, the boat segmental curved surface data of reading is adjusted to level attitude, and records the boat segmental curved surface data under this level attitude;
The relative coordinate relation of step 4, setting boat segmental curved surface and the moulding bed newel frame origin of coordinates, determines that each moulding bed pillar is at the concrete coordinate of boat segmental curved surface under this system of axes;
Step 5, utilize NURBS technology, simulate the toroidal function of boat segmental curved surface according to the boat segmental curved surface data under the level attitude of step 3 record;
Step 6, according to each moulding bed pillar at the concrete coordinate of boat segmental curved surface and toroidal function, the due height of each moulding bed pillar of interpolation calculation;
The due height of each moulding bed pillar that step 7, basis calculate carries out control adjustment to each moulding bed pillar simultaneously.
2. the control method of shipbuilding numerical control moulding bed according to claim 1, it is characterized in that: highly carrying out each moulding bed pillar before controls adjusts, also comprising step: by the height adjustment of each moulding bed pillar on same horizontal surface according to should having of each moulding bed pillar of calculating.
3. the control method of shipbuilding numerical control moulding bed according to claim 1 and 2, it is characterized in that: after each moulding bed pillar being adjusted according to the height of each moulding bed pillar calculated, also comprise step: whether the height of monitoring each moulding bed pillar is adjusted to should height, if adjusted to the right place, sends information.
4. the control method of shipbuilding numerical control moulding bed according to claim 1, it is characterized in that: each moulding bed pillar comprises lower pillar stand, upper pillar stand, vertical rod and transmission device, lower pillar stand comprises case in and is located at the moulding bed base of case in bottom, and cased top is provided with connection base; Upper pillar stand comprises sleeve pipe, and upper casing part is provided with and the upper sleeve pipe base being connected base and being fixedly connected with, and the top of upper sleeve pipe base is provided with transmission device mounting box, and mounted motor in transmission device mounting box, motor output shaft is coaxially fixed with motor gear; The top of upper sleeve pipe is provided with top member, and the middle part of top member is provided with circumferential notch and guided way; Described vertical rod comprises screw mandrel, and whole screw mandrel is provided with outside thread, and the top of screw mandrel is provided with one section of guide groove mated with guided way; In described transmission device mounting box, the transmission gear coaxial with screw mandrel is also installed, the middle part of transmission gear is provided with the negative thread corresponding with described outside thread, the drive that transmission gear and described motor gear nibble merga pass motor gear makes axial-rotation in transmission device mounting box, drive gears movable wire bar up-and-down movement.
5. the control method of shipbuilding numerical control moulding bed according to claim 4, is characterized in that: the due height of each moulding bed pillar that step 7, basis calculate carries out control adjustment to each moulding bed pillar simultaneously, is specially:
Utilize the ratio of number of teeth of motor gear, transmission gear, and the pitch of screw mandrel, should have highly according to each moulding bed pillar calculated, calculates turning to and revolution of motor, sends corresponding control command according to turning to of the motor calculated with revolution to motor simultaneously.
6. the control method of shipbuilding numerical control moulding bed according to claim 5, it is characterized in that: after motor rotates according to the control command received, receive the feedback information that motor sends, compare with revolution according to feedback information and turning to of calculating, determine whether to continue to send corresponding control command to this motor.
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| CN107284621A (en) * | 2017-06-28 | 2017-10-24 | 江苏科技大学 | A kind of flexible bracket system built for boat segmental and method of construction |
| CN108891528A (en) * | 2018-06-29 | 2018-11-27 | 广船国际有限公司 | A kind of intelligence moulding bed system and application method |
| CN108725691B (en) * | 2018-07-02 | 2023-12-01 | 南通理工学院 | Movable marine jig frame, marine jig frame control system and control method thereof |
| CN111516823B (en) * | 2020-04-24 | 2021-01-26 | 江苏科技大学 | Dynamic compensation method for ship section construction curved surface deformation |
| CN112506097A (en) * | 2020-11-27 | 2021-03-16 | 江苏科技大学 | Jig frame remote monitoring system and method based on industrial internet |
| CN114987717A (en) * | 2022-07-05 | 2022-09-02 | 广州黄船海洋工程有限公司 | Positioning and mounting method for curved surface structure |
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